扩张状态观测器在无人机纵向飞行控制中的应用

Extended State Observer Used in UAV Longitudinal Flight Control

针对在设计无人机控制律时存在未建模动态和不确定扰动的特点,将未建模动态和不确定扰动视为综合扰动,引入扩张状态观测器对综合扰动项进行估计并补偿,设计出不依赖对象模型的改进PID控制器。仿真结果表明,该控制器在控制量品质、动态性能、稳态精度等方面都优于常规PID控制器。

Aimed at the characters of an unmanned air vehicle＇ s （UAV） control law, such as non-modeling dynamics and uncertain external disturbance, this paper regarded these disturbances as one integrated disturbance and presented the method of extended state observer（ESO） to observer and compensate this integrated disturbance, then an improvement PID controller which didn＇ t rely on the mathematics＇ model was proposed. The simulation indicates that this controller＇ s quality is better than general PID controller in aspect of input quality, dynamics and stability precision.